Construction Robot Path-Planning for Earthwork Operations

In developing an intelligent mobile construction robot, a navigation system that can provide an effective and efficient path-planning algorithm is a very important element. The purpose of a path-planning method for a mobile construction robot is to find a continuous collision-free path from the initial position of the construction robot to its target position. This paper presents an improved Bug-based algorithm, called SensBug, which can produce an effective path in an unknown environment with both stationary and movable obstacles. The contributions, which make it possible to generate an effective and short path, are an improved method to select local directions, a reverse mode, and a simple leaving condition. Some emerging technologies that can be used for implementing an intelligent construction robot are introduced in this paper.     

Design of software systems based on axiomatic design

The ability to utilize fully automated flexible manufacturing systems (FMS) or develop reliable computer-integrated manufacturing (CIM) systems will depend on our ability to develop reliable and reusable software for large complex systems on a timely basis. To date, software design has not gone very far beyond the ad hoc trial-and-error stage. Consequently, the development of software is slow, expensive, unreliable, and unmanageable. The purpose of this paper is to provide a scientific basis for designing software. The approach used here is that of axiomatic design, which is based on two design axioms: the Independence Axiom and the Information Axiom. The axiomatic approach is based on the recognition of the following common elements in design: the existence of independent domains (i.e. the consumer domain, the functional domain, the physical domain, and the process domain); the need to map between various domains during the design process; the decomposition of the characteristic vectors (i.e. functional requirements, design parameters, and process variables) in their respective domains; the zig-zagging required between the domains for decomposition; and the need to satisfy the design axioms during the design process. The axiomatic approach discussed in this paper provides decision making tools for software design in addition to systematic means of knowledge and data representation, synthesis and analysis of software, and the construction of the module-junction structure diagram.     

Nucleation of solidification in liquid droplets

Analytical and numerical methods have been developed to analyze the solidification kinetics of a mass of liquid droplets dispersed in a fluid or solid matrix using classical nucleation theory. The resulting analytical expressions and numerical calculations can be compared directly with calorimetric measurements of the droplet solidification exotherms to obtain information about the nucleation mechanism. With increasing contact angle at the solid-liquid-matrix triple point, the solidification onset, peak, and end temperatures and exothermic peak height all decrease sharply and the droplet solidification exotherms become broader. Decreasing either the droplet radius or the number of potential catalytic nucleation sites produces a similar but smaller effect. Distributions in droplet radius, contact angle, and nucleation sites have no effect on the solidification peak temperature, but the droplet solidification exotherms become broader and more symmetric. The solidification onset temperature is independent of cooling rate in the calorimeter, but the solidification peak and end temperatures decrease and the exothermic peak height increases with increasing cooling rate. Predicted droplet solidification exotherms are in excellent agreement with detailed experimental measurements on 10-nm-radius Cd droplets embedded in a solid Al matrix. Analytical predictions give best-fit values of 43 deg and 430 for the contact angle and the number of potential catalytic nucleation sites per droplet, respectively; numerical predictions give best-fit values of 43 deg and 750 for the contact angle and the number of potential catalytic nucleation sites per droplet, respectively.     

Virtual circuit connection method for RSVP multicasting supportingheterogeneous receivers on the ATM network

The authors suggest a novel virtual circuit connection method based on the reverse traversing technique to minimise the waste of network bandwidth resources, when the Internet protocol multicast is interoperated using the resource reservation protocol over an asynchronous transfer mode network. Simulation results show that, as the number of receivers increases, the bandwidth requirements on all links of the network of the proposed scheme become more advantageous than those of other conventional methods     

ERCP and CT findings of ectopic drainage of the common bile duct into the duodenal bulb

OBJECTIVE: The purpose of this study was to evaluate ERCP and CT findings of ectopic drainage of the common bile duct into the duodenal bulb. CONCLUSION: Although rare, the diagnosis of ectopic drainage of the common bile duct into the duodenal bulb is important to prevent inadvertent damage during biliary tract or gastric surgery and to clarify the cause of chronic peptic ulcers.     

Phacoemulsification with a bevel-down phaco tip: phaco-drill

We present a technique for in situ lens nucleus emulsification using low phaco power and high vacuum, a continuous curvilinear capsulorhexis, and hydrodelineation. Emulsification is done with the phaco tip slanted down 30 or 45 degrees. Cutting and aspiration do not cause an undesirable energy loss. This technique can be combined with the nuclear chopping or divide and conquer methods because of its ability to drill and hold the nucleus. Posterior capsular rupture is prevented because the separated epinucleus acts as a barrier between the nucleus and the cortex. The low power used minimizes the energy transfer to the corneal endothelium. This technique is particularly useful in eyes with brunescent cataract.     

Interfacial reactions in the squeeze-cast (SAFFIL+C)/SAE 329 Al composite

Interfacial reactions in the squeeze-cast SAE 329 Al alloy reinforced with SAFFIL and carbon fibers were investigated using scanning and transmission electron microscopy and secondary ion mass spectroscopy. The SiO₂ layer added as a binder for the preform of SAFFIL fiber appeared to prevent excessive reaction between the fiber and the molten Al alloy during casting. In the as-cast composite, the reaction between the SiO₂ layer and the Al alloy is considered to produce MgO crystals in the vicinity of SAFFIL fiber. With subsequent heat treatment of the composite to the T6 condition, small crystals of MgO and MgAl₂O₄ were found to form at the surface of SAFFIL fiber as a result of interfacial reaction between the SiO₂ layer and the Al alloy. Even at the T6 condition, significant reactions between the Al alloy and SAFFIL fiber itself were not observed, indicating the effective role of the binder layer in suppressing the degradation of SAFFIL fiber by reaction with the Al alloy.     

HEURISTIC APPROACHES FOR LOADING PROBLEMS IN FLEXIBLE MANUFACTURING SYSTEMS

Flexible manufacturing systems (FMSs) are able to process a wide variety of operations, but the specific mix of operations that can be performed at any point in time depends upon the combination of tools loaded onto the machines. The machines have tool magazines with finite capacities. We consider the problem of assigning operations and their associated tools to machines (or groups of machines) to maximize the throughput for a specified steady-state mix of orders. Since this objective is difficult to deal with directly, we use an intermediate objective of meeting workload targets for each machine group as closely as possible. A certain form of this intermediate objective has been shown to correlate highly with the original objective.

Since it is computationally intractable to find optimal solutions for problems with more than 20 operations, fast heuristic algorithms are developed. These algorithms are adapted from multi-dimensional bin-packing algorithms. Computational results are reported.     

Ascorbic acid is a stimulatory cofactor for mitochondrial glycerol-3-phosphate dehydrogenase

We describe in this report a sensitive and direct method for the analysis of tamoxifen (TAM) in microsamples of plasma. The drug and internal standard (quinine bisulfate, I.S.) were separated on a 10-microm particle, 10 cm X 8 mm CN cartridge in conjunction with a radial compression system. The mobile phase was a mixture of 0.1 M sodium acetate in 0.001 M tetrabutylammonium phosphate solution (pH 6) and methanol (30:70, v/v) at a flow-rate of 4 ml/min. After addition of I.S. and o-phosphoric acid in acetonitrile (0.6 M) to the plasma (30 microl), the mixture was placed in an ultraviolet shortwave transluminator for 2 min prior to injection into the chromatograph. The compounds were detected in the effluent fluorometrically at excitation and emission wavelengths of 258 and 378 nm, respectively. Under these conditions, no interference in the assay from any endogenous substance or other concurrently used drugs was observed and the retention times of I.S. and TAM were 4.4 and 10.15 min, respectively. The concentration of TAM in plasma was linearly (r>0.9983) related to the peak height ratio (TAM/I.S.) in the range 0.01-2.0 microg ml(-1) and C.V. at 0.075, 0.4 and 1.2 microg ml(-1) was < or = 4.96%. We are currently using this assay for monitoring TAM in plasma and investigating its pharmacokinetics in cancer patients receiving cytotoxic drugs in addition to TAM as a multi-drug resistance modifier.